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{\s19\sbasedon0\snext19\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\loch\f3\fs24\lang1033 Index;}
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{\*\ftnsep}\pgndec\pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\b\rtlch \ltrch\loch\fs18\loch\f5
Info}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\b0\rtlch \ltrch\loch\fs18\loch\f6
Test designer: Alexandre Guilbault}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\b0\rtlch \ltrch\loch\fs18\loch\f6
Creation date: 04/04/2019}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
ID Jira: SEC-384}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Test Title: }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Navigation}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f5
Test description }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f6
Test objectives and goals: }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Validate that the navigation parameters used on the pioneer work as well on the TurtleBot}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f6
Sub-system(s):}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\fs18\loch\f6
 }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Navigation}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f6
Component(s) (devices and test equipment):}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
-}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot with rasberrypie}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
-}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Hokuyo URG Lx04}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
-}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
kinect}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
-Laptop}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ul\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f6
Environment (location, conditions): }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
P2-1033, P2-1004 \u8594\'3f Lab environnement at the 3it}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ul\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f6
Test Procedure (include files and illustrations): }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
To perform the test, RTAB-Map needs a map. }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Used the mapping.launch file to create a map.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
- }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Power on the rasberrypie}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
- Power on the kinect}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
- Power on the lidar}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\tx0\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[On }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
]}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
$ roscore}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
(other tab)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
$ roslaunch securbot_pkg localization.launch}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
(other tab)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
$ roslaunch securbot_pkg navigation.launch}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[On Laptop]}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
$ roscd securbot_pkg/launch}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
$ rosrun rviz rviz -d navigation.rviz}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar\rtlch \ltrch\loch

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
- Manipulations:}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
1) Position the }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
in the P2-1033 so it looks at the door to help it find itself in the map. }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
2) Using RVIZ, send the }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 to different locations in the P2-1033. }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
3) Using RVIZ, send the }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 in the corridor.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
4) Using RVIZ, go in the P2-1004. (The door should be open)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
5) Using RVIZ, go to the washrooms near the clean rooms.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
6) Using RVIZ, go to the end of that corridor.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
7) Using RVIZ, come back to the P2-1033.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f6
Test parameters and inputs (limits, tolerances, settings): }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Inputs are the position in RVIZ. }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ul\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Parameters are the navigation parameters in the following files:}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
base_local_planner_params.yaml  }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
global_costmap_params.yaml}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
costmap_common_params.yaml      }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
local_costmap_params.yaml}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
They are located in ~/catkin_ws/src/Robot_Software/securbot_pkg/config/}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
turtlebot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f6
Expected results: }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
1) The }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 should reach the desired location and orientation without any collision.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
2) The }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 should reach the desired location and orientation without any collision.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
3) The }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 should reach the desired location and orientation without any collision.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
4) The }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 should reach the desired location and orientation without any collision.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
5) The }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 should reach the desired location and orientation without any collision.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
6) The }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 should reach the desired location and orientation without any collision.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
7) The }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
TurtleBot}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 should reach the desired location and orientation without any collision.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f5
Security}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f5

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Potential risks:}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[ }{\ulnone\ulc0\b0\highlight7\rtlch \ltrch\loch\fs18\loch\f6
YES }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
/ NO ]\tab Mechanical equipment damages (high speeds, sharp objects, projectiles)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[ YES / }{\ulnone\ulc0\b0\highlight7\rtlch \ltrch\loch\fs18\loch\f6
NO }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
]\tab Electrical equipment damages (high power, reverse polarity, ESD, shorts)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[ YES / }{\ulnone\ulc0\b0\highlight7\rtlch \ltrch\loch\fs18\loch\f6
NO ]}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
\tab Thermal hazards (power dissipation, friction, heat-sensitive/flamable components)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[ YES / }{\ulnone\ulc0\b0\highlight7\rtlch \ltrch\loch\fs18\loch\f6
NO}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 ]\tab Chemicals (batteries, contaminants, exposition, airborne particles)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[ YES / }{\ulnone\ulc0\b0\highlight7\rtlch \ltrch\loch\fs18\loch\f6
NO }{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
]\tab New components (first tests, original/student designs)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[ }{\ulnone\ulc0\b0\highlight7\rtlch \ltrch\loch\fs18\loch\f6
YES}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 / NO ]\tab Human risks (operator proximity, ergonomics, environment, bystanders)}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
[ YES / }{\ulnone\ulc0\b0\highlight7\rtlch \ltrch\loch\fs18\loch\f6
NO}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
 ]\tab Others: _______________________________}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
___________________________________________________}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
___________________________________________________}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ul\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Risk mitigation:}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Neutralization at the source: }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
The pioneer should always be on the ground when it is powered on.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Collective protections: }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Someone from the team has to follow the robot to ensure it does not endanger itself or bystanders.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Personal protections:}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f5
Approbation }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f5

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Approved by: ______________________}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
Date: ________________________}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f5
Test Results}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f5

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\sb57\sa57\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
Test 1 : Alexandre Guilbault, April 1}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
9}{\super\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
th}{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
 2019}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\sb57\sa57\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
Complete test with the turtlebot}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar{\ulnone\ulc0\b\rtlch \ltrch\loch\fs18\loch\f5
Results & Comments}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
Since the TurtleBot as a lidar with a smaller range, the mapping process is longer. The robot needs to pass through each }{{\*\bkmkstart __DdeLink__373_1528378776}\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
hallway}{{\*\bkmkend __DdeLink__373_1528378776}\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
 multiple times to find as many features as possible. }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar\rtlch \ltrch\loch

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
Once the map is complete, the robot navigates well. }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
However, not seeing the end of the hallway with the lidar makes the robot drift on its map. Most of the times, it can replace itself, but it might get stuck between obstacles and remaining obstacles. }
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar\rtlch \ltrch\loch

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5
Overall, the navigation is as good as we can expect to achieve with a 4 meter lidar and a kinect.}
\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li360\ri0\lin360\rin0\fi0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\sb57\sa57\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\li0\ri0\lin0\rin0\fi0\ltrpar\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f5

\par \pard\plain \s0\ql\nowidctlpar\hyphpar0\ltrpar\cf1\kerning1\dbch\af7\langfe1081\dbch\af7\afs24\alang1081\loch\f3\fs24\lang1033\ql\nowidctlpar\hyphpar0\ltrpar{\ulnone\ulc0\b0\rtlch \ltrch\loch\fs18\loch\f6
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\par }